def SweepAt(robot, start, end, manip=None, margin=0.3, render=True): """ @param robot The robot performing the sweep @param start The object or 3-d position that marks the start @param end The object of 3-d position that marks the end @param manip The manipulator to perform the sweep @param margin The distance between the start object and the hand, so the vertical space between the hand and objects. This must be enough to clear the objects themselves. @param render Render tsr samples during planning """ start_coord = GetPointFrom(start) end_coord = GetPointFrom(end) return Sweep(robot, start_coord, end_coord, manip, margin, render)
def SweepAt(robot, start, end, manip=None, margin=0.3, render=True): """ Make a robot 'sweep' its arm from one object or position to another. Note that this is identical to Sweep except start and end can be designated by objects. @param robot The robot performing the sweep @param start The object or 3-D position that marks the start @param end The object or 3-D position that marks the end @param manip The manipulator to perform the sweep @param margin The distance between the start object and the hand, so the vertical space between the hand and objects. This must be enough to clear the objects themselves. @param render Render tsr samples during planning """ start_coord = GetPointFrom(start) end_coord = GetPointFrom(end) return Sweep(robot, start_coord, end_coord, manip, margin, render)
def PointAt(robot, focus, manip=None, render=False): """ @param robot The robot performing the point @param focus The 3-D coordinate in space or object that is being pointed at @param manip The manipulator to perform the point with. This must be the right arm @param render Render tsr samples during planning """ pointing_coord = GetPointFrom(focus) return Point(robot, pointing_coord, manip, render)
def PresentAt(robot, focus, manip=None, render=True): """ Make a robot 'present' at a 3d position or object. Note that this is identical to Present except that the focus can be an object or 3d position. @param robot The robot performing the presentation @param focus The 3-D coordinate in space or object that is being presented @param manip The manipulator to perform the presentation with. @param render Render tsr samples during planning """ presenting_coord = GetPointFrom(focus) return Present(robot, presenting_coord, manip, render)
def PointAt(robot, focus, manip=None, render=False): pointing_coord = GetPointFrom(focus) return Point(robot, pointing_coord, manip, render)